void ui_init(void)
{
LED_On(LED0);
LED_Off(LED1);
}
void ui_process(uint16_t framenumber)
{
bool b_btn_state, success;
static bool btn_last_state = false;
static bool sequence_running = false;
static uint8_t u8_sequence_pos = 0;
uint8_t u8_value;
static uint16_t cpt_sof = 0;
if ((framenumber % 1000) == 0) {
LED_On(LED0);
}
if ((framenumber % 1000) == 500) {
LED_Off(LED0);
}
/* Scan process running each 2ms */
cpt_sof++;
if ((cpt_sof % 2) == 0) {
return;
}
/* Uses buttons to move mouse */
if (!ioport_get_pin_level(GPIO_PUSH_BUTTON_1)) {
udi_hid_mouse_moveY(-MOUSE_MOVE_RANGE);
}
/* SW0 down to send keys sequence */
b_btn_state = (!ioport_get_pin_level(GPIO_PUSH_BUTTON_1));
if (b_btn_state != btn_last_state) {
btn_last_state = b_btn_state;
sequence_running = true;
}
/* Sequence process running each period */
if (SEQUENCE_PERIOD > cpt_sof) {
return;
}
cpt_sof = 0;
if (sequence_running) {
/* Send next key */
u8_value = ui_sequence[u8_sequence_pos].u8_value;
if (u8_value!=0) {
if (ui_sequence[u8_sequence_pos].b_modifier) {
if (ui_sequence[u8_sequence_pos].b_down) {
success = udi_hid_kbd_modifier_down(u8_value);
} else {
success = udi_hid_kbd_modifier_up(u8_value);
}
} else {
if (ui_sequence[u8_sequence_pos].b_down) {
success = udi_hid_kbd_down(u8_value);
} else {
success = udi_hid_kbd_up(u8_value);
}
}
if (!success) {
return; /* Retry it on next schedule */
}
}
/* Valid sequence position */
u8_sequence_pos++;
if (u8_sequence_pos >=
sizeof(ui_sequence) / sizeof(ui_sequence[0])) {
u8_sequence_pos = 0;
sequence_running = false;
}
}
}
void ui_powerdown(void)
{
LED_Off(LED0_GPIO);
LED_Off(LED1_GPIO);
}
void ui_com_close(uint8_t port)
{
UNUSED(port);
LED_Off(LED1);
}
void ui_stop_read(void)
{
LED_Off(LED1);
}
void ui_com_close(uint8_t port)
{
LED_Off(LED2);
LED_Off(LED3);
}
/**
* @brief Main function of the coordinator application
*
* This function initializes the MAC, initiates a MLME reset request
* (@ref wpan_mlme_reset_req()), and implements a the main loop.
*/
int main(void)
{
/* Initialize the board.
* The board-specific conf_board.h file contains the configuration of
* the board initialization.
*/
irq_initialize_vectors();
board_init();
sysclk_init();
sw_timer_init();
if(MAC_SUCCESS != wpan_init())
{
app_alert();
}
/* Initialize LEDs. */
LED_On(LED_START); // indicating application is started
LED_Off(LED_NWK_SETUP); // indicating network is started
LED_Off(LED_DATA); // indicating data transmission
cpu_irq_enable();
#ifdef SIO_HUB
/* Initialize the serial interface used for communication with terminal program. */
sio2host_init();
/* To make sure the Hyper Terminal Connected to the system*/
sio2host_getchar();
printf("\nBeacon_Application\r\n\n");
printf("\nCoordinator\r\n\n");
#endif /* SIO_HUB */
sw_timer_get_id(&APP_TIMER_INDIRECT_DATA);
sw_timer_get_id(&APP_TIMER_BCN_PAYLOAD_UPDATE);
sw_timer_get_id(&APP_TIMER_BC_DATA);
/*
* Reset the MAC layer to the default values.
* This request will cause a mlme reset confirm message ->
* usr_mlme_reset_conf
*/
wpan_mlme_reset_req(true);
#ifdef GPIO_PUSH_BUTTON_0
dst_addr.AddrMode = 2;
dst_addr.PANId = DEFAULT_PAN_ID;
#endif //GPIO_PUSH_BUTTON_0
while (true)
{
wpan_task();
#ifdef GPIO_PUSH_BUTTON_0
if (!ioport_get_pin_level(GPIO_PUSH_BUTTON_0))
{
delay_ms(DEBOUNCE_DELAY_MS);
if (!ioport_get_pin_level(GPIO_PUSH_BUTTON_0))
{
dst_addr.Addr.short_address = BROADCAST;
wpan_mcps_data_req(FCF_SHORT_ADDR, &dst_addr, 14,
(uint8_t *)"Broadcast Data", 1, WPAN_TXOPT_OFF);
}
}
#endif //GPIO_PUSH_BUTTON_0
}
}
void ui_init(void)
{
// Initialize LEDs
LED_On(LED0_GPIO);
LED_Off(LED1_GPIO);
}
void ui_com_close(uint8_t port)
{
LED_Off(LED1_GPIO);
}
void ui_stop_write(void)
{
LED_Off(LED2_GPIO);
}
//Обрабатываем значения HoldingRegisters
void ModbusSaver()
{
switch (usRegHoldingBuf[MB_OFFSET+MB_COMMAND])
{
case 1:
wdt_enable(WDTO_15MS); // enable watchdog
while(1); // wait for watchdog to reset processor break;
break;
case 2:
ADXL345_Calibrate();
break;
}
usRegHoldingBuf[MB_OFFSET+MB_COMMAND] = 0;
if (usRegHoldingBuf[MB_OFFSET+MB_LED_BLUE])
{
LED_On(LED_BLUE);
}
else
{
LED_Off(LED_BLUE);
}
if (usRegHoldingBuf[MB_OFFSET+MB_LED_GREEN])
{
LED_On(LED_GREEN);
}
else
{
LED_Off(LED_GREEN);
}
if (bit_is_set(usRegHoldingBuf[MB_OFFSET+MB_SOUND], 0))
{
Sound_On();
}
else
{
Sound_Off();
}
if (usRegHoldingBuf[MB_OFFSET+MB_ALL]<16000UL)
{
usRegHoldingBuf[MB_OFFSET+MB_ALL]=16000UL;
}
if (bit_is_set(usRegHoldingBuf[MB_OFFSET+MB_MANUAL], 4))
{
float speeds[4];
speeds[FRONT_LEFT] = (float)usRegHoldingBuf[MB_OFFSET + MB_FRONT_LEFT];
speeds[FRONT_RIGHT] = (float)usRegHoldingBuf[MB_OFFSET + MB_FRONT_RIGHT];
speeds[REAR_LEFT] = (float)usRegHoldingBuf[MB_OFFSET + MB_REAR_LEFT];
speeds[REAR_RIGHT] = (float)usRegHoldingBuf[MB_OFFSET + MB_REAR_RIGHT];
SetMotors(speeds);
}
else
{
usRegHoldingBuf[MB_OFFSET + MB_FRONT_LEFT] = counter[FRONT_LEFT];
usRegHoldingBuf[MB_OFFSET + MB_FRONT_RIGHT] = counter[FRONT_RIGHT];
usRegHoldingBuf[MB_OFFSET + MB_REAR_LEFT] = counter[REAR_LEFT];
usRegHoldingBuf[MB_OFFSET + MB_REAR_RIGHT] = counter[REAR_RIGHT];
}
//t_Ox.value = 0;
//t_Oy.value = 0;
t_Ox.array[0] = usRegHoldingBuf[2];
t_Ox.array[1] = usRegHoldingBuf[3];
t_Oy.array[0] = usRegHoldingBuf[4];
t_Oy.array[1] = usRegHoldingBuf[5];
t_Oz.array[0] = usRegHoldingBuf[6];
t_Oz.array[1] = usRegHoldingBuf[7];
ModbusEEPROMLoader();
}
void ui_stop_read(void)
{
LED_Off(LED1_GPIO);
}
void ui_init(void)
{
LED_Off(LED0_GPIO);
LED_Off(LED1_GPIO);
}
void ui_process(uint16_t framenumber)
{
bool b_btn_state, success;
static bool btn_last_state = false;
static bool sequence_running = false;
static uint8_t sequence_pos = 0;
uint8_t value;
static uint16_t cpt_sof = 0;
if ((framenumber % 1000) == 0) {
LED_On(LED0);
}
if ((framenumber % 1000) == 500) {
LED_Off(LED0);
}
/* Scan process running each 2ms */
cpt_sof++;
if ((cpt_sof % 2) == 0) {
return;
}
/* Scan button on push button (SW0) to send keys sequence */
b_btn_state = !ioport_get_pin_level(GPIO_PUSH_BUTTON_1);
if (b_btn_state != btn_last_state) {
btn_last_state = b_btn_state;
if (btn_wakeup) {
if (!b_btn_state) {
btn_wakeup = false;
}
} else {
sequence_running = true;
}
}
/* Sequence process running each period */
if (SEQUENCE_PERIOD > cpt_sof) {
return;
}
cpt_sof = 0;
if (sequence_running) {
/* Send next key */
value = ui_sequence[sequence_pos].value;
if (value!=0) {
if (ui_sequence[sequence_pos].b_modifier) {
if (ui_sequence[sequence_pos].b_down) {
success = udi_hid_kbd_modifier_down(value);
} else {
success = udi_hid_kbd_modifier_up(value);
}
} else {
if (ui_sequence[sequence_pos].b_down) {
success = udi_hid_kbd_down(value);
} else {
success = udi_hid_kbd_up(value);
}
}
if (!success) {
return; /* Retry it on next schedule */
}
}
/* Valid sequence position */
sequence_pos++;
if (sequence_pos >=
sizeof(ui_sequence) / sizeof(ui_sequence[0])) {
sequence_pos = 0;
sequence_running = false;
}
}
}
/**
* \brief Application entry point for TWI EEPROM example.
*
* \return Unused (ANSI-C compatibility).
*/
int main(void)
{
uint32_t i;
twihs_options_t opt;
twihs_packet_t packet_tx, packet_rx;
/* Initialize the SAM system */
sysclk_init();
/* Initialize the board */
board_init();
/* Turn off LEDs */
LED_Off(LED0);
/* Initialize the console UART */
configure_console();
/* Output example information */
puts(STRING_HEADER);
/* Configure systick for 1 ms */
puts("Configure system tick to get 1ms tick period.\r");
if (SysTick_Config(sysclk_get_cpu_hz() / 1000)) {
puts("-E- Systick configuration error\r");
while (1) {
/* Capture error */
}
}
/* Enable the peripheral clock for TWI */
pmc_enable_periph_clk(BOARD_ID_TWIHS_EEPROM);
/* Configure the options of TWI driver */
opt.master_clk = sysclk_get_cpu_hz();
opt.speed = TWIHS_CLK;
/* Configure the data packet to be transmitted */
packet_tx.chip = AT24C_ADDRESS;
packet_tx.addr[0] = EEPROM_MEM_ADDR >> 8;
packet_tx.addr[1] = EEPROM_MEM_ADDR;
packet_tx.addr_length = EEPROM_MEM_ADDR_LENGTH;
packet_tx.buffer = (uint8_t *) test_data_tx;
packet_tx.length = TEST_DATA_LENGTH;
/* Configure the data packet to be received */
packet_rx.chip = packet_tx.chip;
packet_rx.addr[0] = packet_tx.addr[0];
packet_rx.addr[1] = packet_tx.addr[1];
packet_rx.addr_length = packet_tx.addr_length;
packet_rx.buffer = gs_uc_test_data_rx;
packet_rx.length = packet_tx.length;
if (twihs_master_init(BOARD_BASE_TWIHS_EEPROM, &opt) != TWIHS_SUCCESS) {
puts("-E-\tTWI master initialization failed.\r");
while (1) {
/* Capture error */
}
}
/* Send test pattern to EEPROM */
if (twihs_master_write(BOARD_BASE_TWIHS_EEPROM, &packet_tx) != TWIHS_SUCCESS) {
puts("-E-\tTWI master write packet failed.\r");
while (1) {
/* Capture error */
}
}
puts("Write:\tOK!\n\r");
/* Wait at least 10 ms */
mdelay(WAIT_TIME);
/* Get memory from EEPROM*/
if (twihs_master_read(BOARD_BASE_TWIHS_EEPROM, &packet_rx) != TWIHS_SUCCESS) {
puts("-E-\tTWI master read packet failed.\r");
while (1) {
/* Capture error */
}
}
puts("Read:\tOK!\r");
/* Compare the sent and the received */
for (i = 0; i < TEST_DATA_LENGTH; i++) {
if (test_data_tx[i] != gs_uc_test_data_rx[i]) {
/* No match */
puts("Data comparison:\tUnmatched!\r");
while (1) {
/* Capture error */
}
}
}
/* Match */
puts("Data comparison:\tMatched!\r");
LED_On(LED0);
while (1) {
}
}
void ui_com_rx_stop(void)
{
LED_Off(LED3_GPIO);
}
void LED_Init (void)
{
LED_Off(0); /* Turn off all of the LEDs */
}
void ui_com_tx_stop(void)
{
LED_Off(LED2_GPIO);
}
void ui_com_rx_stop(void)
{
LED_Off(LED3);
}
void ui_process(uint16_t framenumber)
{
bool b_btn_state, success;
static bool btn_last_state = false;
static bool sequence_running = false;
static uint8_t u8_sequence_pos = 0;
uint8_t u8_value;
static uint16_t cpt_sof = 0;
if ((framenumber % 1000) == 0) {
LED_On(LED0);
}
if ((framenumber % 1000) == 500) {
LED_Off(LED0);
}
// Scan process running each 2ms
cpt_sof++;
if ((cpt_sof % 2) == 0) {
return;
}
// Buttons down to send keys sequence
b_btn_state = (!ioport_get_pin_level(GPIO_PUSH_BUTTON_0));
if (b_btn_state != btn_last_state) {
btn_last_state = b_btn_state;
if (btn_wakeup) {
if (!b_btn_state) {
btn_wakeup = false;
}
} else {
sequence_running = true;
}
}
// Sequence process running each period
if (SEQUENCE_PERIOD > cpt_sof) {
return;
}
cpt_sof = 0;
if (sequence_running) {
// Send next key
u8_value = ui_sequence[u8_sequence_pos].u8_value;
if (u8_value!=0) {
if (ui_sequence[u8_sequence_pos].b_modifier) {
if (ui_sequence[u8_sequence_pos].b_down) {
success = udi_hid_kbd_modifier_down(u8_value);
} else {
success = udi_hid_kbd_modifier_up(u8_value);
}
} else {
if (ui_sequence[u8_sequence_pos].b_down) {
success = udi_hid_kbd_down(u8_value);
} else {
success = udi_hid_kbd_up(u8_value);
}
}
if (!success) {
return; // Retry it on next schedule
}
}
// Valid sequence position
u8_sequence_pos++;
if (u8_sequence_pos >=
sizeof(ui_sequence) / sizeof(ui_sequence[0])) {
u8_sequence_pos = 0;
sequence_running = false;
}
}
}
void ui_powerdown(void)
{
LED_Off(LED0);
LED_Off(LED1);
}
void device_full_custom_task(void)
#endif
{
U32 time=0;
bool startup=true;
#ifdef FREERTOS_USED
portTickType xLastWakeTime;
xLastWakeTime = xTaskGetTickCount();
while (true)
{
vTaskDelayUntil(&xLastWakeTime, configTSK_USB_DFC_PERIOD);
if( startup )
{
time+=configTSK_USB_DFC_PERIOD;
#define STARTUP_LED_DELAY 100
if ( time== 1*STARTUP_LED_DELAY ) LED_On( LED_MONO0_GREEN );
else if( time== 2*STARTUP_LED_DELAY ) LED_On( LED_MONO1_GREEN );
else if( time== 3*STARTUP_LED_DELAY ) LED_On( LED_MONO2_GREEN );
else if( time== 4*STARTUP_LED_DELAY ) LED_On( LED_MONO3_GREEN );
else if( time== 5*STARTUP_LED_DELAY ) LED_Off( LED_MONO0_GREEN );
else if( time== 6*STARTUP_LED_DELAY ) LED_Off( LED_MONO1_GREEN );
else if( time== 7*STARTUP_LED_DELAY ) LED_Off( LED_MONO2_GREEN );
else if( time== 8*STARTUP_LED_DELAY ) LED_Off( LED_MONO3_GREEN );
else if( time== 9*STARTUP_LED_DELAY ) startup=false;
}
// First, check the device enumeration state
if (!Is_device_enumerated()) continue;
#else
// First, check the device enumeration state
if (!Is_device_enumerated()) return;
#endif // FREERTOS_USED
if(Is_usb_out_received(EP_FC_OUT))
{
U32 nchar;
Usb_reset_endpoint_fifo_access(EP_FC_OUT);
memset(rxbuf, 0, RXBUF_SIZE);
usb_read_ep_rxpacket(EP_FC_OUT, &rxbuf, RXBUF_SIZE, NULL);
Usb_ack_out_received_free(EP_FC_OUT);
//printf("Received %s\n\r", rxbuf);
if( !strcmp((const char*)rxbuf, "get_sensor_value sensor=temp") )
{ // Temperature sensor
nchar=build_answer(txbuf, "temp");
b_temperature_get_value( txbuf+nchar );
b_report_pending=true;
}
else if( !strcmp((const char*)rxbuf, "get_sensor_value sensor=js") )
{ // Joystick
nchar=build_answer(txbuf, "js");
b_joystick_get_value( txbuf+nchar );
b_report_pending=true;
}
else if( !strcmp((const char*)rxbuf, "get_sensor_value sensor=pb1") )
{ // Push button 1
nchar=build_answer(txbuf, "pb1");
b_pushb1_get_value( txbuf+nchar );
b_report_pending=true;
}
else if( !strcmp((const char*)rxbuf, "get_sensor_value sensor=pb2") )
{ // Push button 2
nchar=build_answer(txbuf, "pb2");
b_pushb2_get_value( txbuf+nchar );
b_report_pending=true;
}
#if BOARD == EVK1100
else if( !strcmp((const char*)rxbuf, "get_sensor_value sensor=pb3") )
{ // Push button 3
nchar=build_answer(txbuf, "pb3");
sprintf( txbuf+nchar, "RELEASE\r\n");
b_report_pending=true;
}
#endif
else if( !strcmp((const char*)rxbuf, "get_sensor_value sensor=light") )
{ // light
U32 value;
nchar=build_answer(txbuf, "light");
b_light_get_value( txbuf+nchar, &value );
e_ledm_refresh_intensity( value );
b_report_pending=true;
}
else if( !strcmp((const char*)rxbuf, "get_actuator_value actuator=ledm1") )
{ // led1
nchar=build_answer(txbuf, "ledm1");
b_ledm1_get_value( txbuf+nchar );
b_report_pending=true;
}
else if( !strcmp((const char*)rxbuf, "get_actuator_value actuator=ledm2") )
{ // led2
nchar=build_answer(txbuf, "ledm2");
b_ledm2_get_value( txbuf+nchar );
b_report_pending=true;
}
else if( !strcmp((const char*)rxbuf, "get_actuator_value actuator=ledm3") )
{ // led3
nchar=build_answer(txbuf, "ledm3");
b_ledm3_get_value( txbuf+nchar );
b_report_pending=true;
}
else if( !strcmp((const char*)rxbuf, "get_actuator_value actuator=ledm4") )
{ // led4
nchar=build_answer(txbuf, "ledm4");
b_ledm4_get_value( txbuf+nchar );
b_report_pending=true;
}
else if( !strncmp((const char*)rxbuf, STR_SET_LEDM1, strlen(STR_SET_LEDM1)) )
{ // led1
nchar=build_answer(txbuf, "ledm1");
e_ledm1_set_value(rxbuf+strlen(STR_SET_LEDM1), txbuf+nchar);
b_report_pending=true;
}
else if( !strncmp((const char*)rxbuf, STR_SET_LEDM2, strlen(STR_SET_LEDM2)) )
{ // led2
nchar=build_answer(txbuf, "ledm2");
e_ledm2_set_value(rxbuf+strlen(STR_SET_LEDM2), txbuf+nchar);
b_report_pending=true;
}
else if( !strncmp((const char*)rxbuf, STR_SET_LEDM3, strlen(STR_SET_LEDM3)) )
{ // led3
nchar=build_answer(txbuf, "ledm3");
e_ledm3_set_value(rxbuf+strlen(STR_SET_LEDM2), txbuf+nchar);
b_report_pending=true;
}
else if( !strncmp((const char*)rxbuf, STR_SET_LEDM4, strlen(STR_SET_LEDM4)) )
{ // led4
nchar=build_answer(txbuf, "ledm4");
e_ledm4_set_value(rxbuf+strlen(STR_SET_LEDM2), txbuf+nchar);
b_report_pending=true;
}
else if( !strcmp((const char*)rxbuf, "get_sensor_value sensor=accx") )
{ // accelerometer
nchar=build_answer(txbuf, "accx");
accelerometer_measure(0, txbuf+nchar);
b_report_pending=true;
}
else if( !strcmp((const char*)rxbuf, "get_sensor_value sensor=accy") )
{ // accelerometer
nchar=build_answer(txbuf, "accy");
accelerometer_measure(1, txbuf+nchar);
b_report_pending=true;
}
}
if( b_report_pending && Is_usb_in_ready(EP_FC_IN) )
{
U8 data_to_transfer;
char* ptr_cram=txbuf;
//printf( "Sending %s", txbuf);
#if 0
Usb_reset_endpoint_fifo_access(EP_FC_IN);
usb_write_ep_txpacket(EP_FC_IN, &txbuf, TXBUF_SIZE, NULL);
Usb_ack_in_ready_send(EP_FC_IN);
#endif
data_to_transfer = strlen(txbuf);
while (data_to_transfer)
{
while (!Is_usb_in_ready(EP_FC_IN));
Usb_reset_endpoint_fifo_access(EP_FC_IN);
data_to_transfer = usb_write_ep_txpacket(EP_FC_IN, ptr_cram, data_to_transfer, (const void**)&ptr_cram);
Usb_ack_in_ready_send(EP_FC_IN);
}
b_report_pending=false;
}
#ifdef FREERTOS_USED
}
#endif
}
void ui_com_tx_stop(void)
{
LED_Off(LED1);
}
void ui_powerdown(void)
{
LED_Off();
}
void ui_stop_write(void)
{
LED_Off(LED1);
}
void ui_com_tx_stop(void)
{
LED_Off(LED_BI1_GREEN);
}
/**
* \name Main user interface functions
* @{
*/
void ui_init(void)
{
/* Initialize LEDs */
LED_Off(LED0);
}
void ui_com_rx_stop(void)
{
LED_Off(LED_BI0_GREEN);
}
void ui_process(uint16_t framenumber)
{
bool b_btn_state, success;
static bool btn_last_state = false;
static bool sequence_running = false;
static uint8_t sequence_pos = 0;
uint8_t value;
static uint16_t cpt_sof = 0;
if ((framenumber % 1000) == 0) {
LED_On(LED0_GPIO);
}
if ((framenumber % 1000) == 500) {
LED_Off(LED0_GPIO);
}
// Scan process running each 2ms
cpt_sof++;
if ((cpt_sof % 2) == 0) {
return;
}
// Scan buttons on switch 0 to send keys sequence
b_btn_state = (!gpio_pin_is_high(GPIO_PUSH_BUTTON_1)) ? true : false;
if (b_btn_state != btn_last_state) {
btn_last_state = b_btn_state;
sequence_running = true;
}
// Sequence process running each period
if (SEQUENCE_PERIOD > cpt_sof) {
return;
}
cpt_sof = 0;
if (sequence_running) {
// Send next key
value = ui_sequence[sequence_pos].value;
if (value!=0) {
if (ui_sequence[sequence_pos].b_modifier) {
if (ui_sequence[sequence_pos].b_down) {
success = udi_hid_kbd_modifier_down(value);
} else {
success = udi_hid_kbd_modifier_up(value);
}
} else {
if (ui_sequence[sequence_pos].b_down) {
success = udi_hid_kbd_down(value);
} else {
success = udi_hid_kbd_up(value);
}
}
if (!success) {
return; // Retry it on next schedule
}
}
// Valid sequence position
sequence_pos++;
if (sequence_pos >=
sizeof(ui_sequence) / sizeof(ui_sequence[0])) {
sequence_pos = 0;
sequence_running = false;
}
}
}
void ui_powerdown(void)
{
LED_Off(LED_0_PIN);
}